SLAM-Based Autonomous Indoor Navigation System for Electric Wheelchairs

I. Tharindu Lakmal, K. L.A. Nuwan Perera, H. A. Harindu, Chinthaka Premachandra

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Commercial electric wheelchairs have become cheaper due to the development of related technologies and equipment in recent years. Most of them need the user to control directions using joysticks or handles in order to navigate in indoor environments. This paper presents the development of an indoor autonomous navigation system for electric wheelchairs. The developed system uses 2d lidar to scan obstacles, walls around it and then create a map of its surrounding and localize itself in the map while moving autonomously in indoor environments without inputs from a user. The system is integrated using hardware which is safe for humans and uses open-source software which permits easy and safe integration with an existing electric wheelchair

Original languageEnglish
Title of host publicationProceedings of International Conference on Image Processing and Robotics, ICIPRoB 2020
EditorsB. H. Sudantha
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781728165417
DOIs
Publication statusPublished - 2020 Mar 6
Event1st International Conference on Image Processing and Robotics, ICIPRoB 2020 - Negombo, Sri Lanka
Duration: 2020 Mar 62020 Mar 8

Publication series

NameProceedings of International Conference on Image Processing and Robotics, ICIPRoB 2020

Conference

Conference1st International Conference on Image Processing and Robotics, ICIPRoB 2020
CountrySri Lanka
CityNegombo
Period20/3/620/3/8

Keywords

  • 2d LiDAR
  • automated wheelchair
  • ROS
  • SLAM

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Signal Processing
  • Decision Sciences (miscellaneous)
  • Control and Optimization

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